Double-gripper for the application of teat cups to an animal to be milked, rinse cup for this and milking machine provided therewith, and a method for milking

ABSTRACT

This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: —a first housing part provided with a first magnet designed to hold a first teat cup; —a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; —whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.

PRIORITY

This application is a continuation of U.S. Ser. No. 15/307,877 filedOct. 31, 2016 which is a U.S. National Stage Patent Application under 37U.S.C. §371 of International Patent Application No. PCT/IB2015/053243,filed May 4, 2015, which claims the benefit and priority of PatentApplication No. NL 2012747, filed in the Netherlands on May 2, 2014, theentire contents of each of which are hereby incorporated by reference intheir entirety.

This invention regards a double grab or gripping device which ismountable on an arm of a milking machine for applying automatically teatcups to the teats of an udder of an animal to be milked. Such animalswhich are to be milked may be cows and goats for instance.

Milking machines, among which milking robots, are known from practiceand most of the time, they use an arm to which a grab is attached. Sucha grab applies a teat cup to a teat of an udder of an animal to bemilked. In practice, a teat cup is picked up by a grab and most often isbrought towards the udder from the side of the animal. With the use of asensor, detector, camera or any other means of assistance, the preciseposition of the separate teat is determined, possibly in combinationwith identification data from the database of a milking machine withrespect to the respective animal. Subsequently, the teat cup isconnected. For that, each teat cup is separately positioned withrequires a relatively large number of movements in space of the grabwith respect to the animal. This produces anxiety and a lack ofcomposure on the part of the animal to be milked. This also requires aconsiderable time for positioning and locating the teat cups at thedesired locations so that the milking process as a whole can take placeless effectively.

US 2012/0055408 A 1 describes a robotic arm for a milking machine withwhich multiple teat cups can be brought at the same time in the vicinityof the udder of the animal to be milked. Holders are somewhat sidewaysprovided to a robotic arm so that the teat cups can be positionedcorrectly. For that, some space is required in order to be able to movethe arm with the teat cups towards the desired position and forinstance, to avoid unnecessary contact between the milking machine andthe animal to be milked.

The purpose of this invention is to solve or at least to reduce theabovementioned problems when applying the cups during a milking process.

For that purpose, said invention provides a double grab mountable ontoan arm of a milking machine for applying teat cups automatically to anudder of an animal to be milked, whereby the double grab comprises:

-   -   a first housing part provided with a first magnet designed for        holding a first teat cup;    -   a second housing part, installed substantially in a horizontal        plane next to the first housing part, provided with a second        magnet designed for holding a second teat cup;

whereby each housing part is provided with pivoting means that areactivatable separately, designed to make the relative housing part pivotaround a pivoting axis which in use extends substantially in ahorizontal direction, substantially in widthwise direction of the arm.

For said invention, by milking machine is understood among other milkingrobots and a milking rotary. The arm, among which also a robotic arm isunderstood, of a milking machine as fixed component of the milkingmachine, can also be provided as a separate facility.

By providing at least a first and a second housing part, at least twoteat cups can be held at the same time, or retained, in the double grab.More holders may possibly be provided.

The advantage of a double grab provided with a first and a secondhousing part is that this way at least two teat cups can be positionednearly at the same time near the udder of the animal to be milked, whileat the same time, the width of the arm with the held teat cups canremain limited. According to the invention, this width can be furtherlimited since each housing part is provided with pivoting means that areactivatable separately. According to the invention, these pivoting meansare installed to make the housing part pivot around a pivoting axiswhich substantially extends in a horizontal direction and substantiallyin the widthwise direction of the arm. This makes it possible to makethe housing part after connecting a first teat cup, pivot downward sothat the second teat cup can be connected without the teat cupshindering each other and/or making contact with the animal to be milked.Because of the pivoting means, both housing parts can be installedrelatively close to each other, so that the whole set of the arm withthe double grab and the teat cups which are held by it, can remainlimited in width. Prior to applying the first teat cup to a teat withthe first housing part, the second housing part can also pivot somewhatdownward so that also the first teat cup can be applied with maximumspace. This also prevents that this second teat cup during positioningof the first teat cup comes in contact with a teat or another part ofthe animal to be milked which can make the animal become restless. Thisway, according to the invention, with the double grab, a number of teatcups can efficiently be connected without having to move the arm fullyback in order to pick up a new teat cup. This way, the lead time forconnecting the teat cups, and optionally removing the teat cups at theend of the milking process, can be carried out efficiently.

In a currently preferred embodiment, besides the pivoting axis, thepivoting means include a cylinder for pivoting the relative housing partaround the pivoting axis. That way, by retracting the cylinder in thecurrently preferred embodiment, a downward pivoting of the housing partcan be achieved while by extending the cylinder, an upward pivotingmotion of the housing part is being achieved. The cylinder involves forinstance a hydraulic, electric or pneumatic cylinder.

The first and second housing parts are both preferably provided with amagnet for holding the teat cup. This way, with the help of the magnet,the double grab can pick up in a relatively simple way a teat cup with ahousing part, transport it and connect in the proper manner on a teat ofan animal to be milked. After completing the milking process, the teatcup can be removed efficiently in the opposite sequence.

In a currently preferred embodiment according to the invention, themagnet is a permanent magnet which is installed movably in or at anindividual housing part. By installing the permanent magnet in a movablefashion in the housing part, contact between the housing part and a teatcup can be efficiently made or broken. For instance, a magnet is movedtowards the end of the housing part so that the magnet can make directphysical contact or indirect magnetic contact with the teat cup and canpick it up, transport and/or connect or remove it. By moving the magnetsubsequently, said direct or indirect contact between the magnet and theteat cup will be broken so that the teat cup will be released from thehousing part. Consequently, an effective connection and removal of theteat cups belongs to the possibilities. Preferably, the magnet is placedin a movable plastic housing with respect to the steel housing part.

Preferably, the permanent magnet is movable substantially in thelengthwise direction of the arm. By moving the magnet substantially inthe lengthwise direction of the arm, the width of the whole system ofarm, housing parts and teat cups, seen in the widthwise direction of thearm substantially in the horizontal plane, remains limited irrespectiveof the position of the permanent magnet in a housing part. When slidingthe magnet towards the end of the arm, the magnet exerts an attractionon the teat cup so that the latter is attracted and is kept in thehousing part. By sliding the magnet backwards, the force of theattraction will diminish or disappear completely so that the teat cupdoes not necessarily rests against the housing part and will bereleased. Consequently, a teat cup can be picked up and released in anefficient way with the double grab according to the invention.

Preferably, the permanent magnet is in a beneficial embodiment connectedin working order with a first drive for moving the magnet within thehousing part. For that purpose, if desired, a hydraulic cylinder canalso be used or another pneumatic or electric drive.

In a beneficial preferred embodiment according to this invention, atleast one of the housing parts is provided with a sliding mechanism,whereby the sliding mechanism is designed to pull back the housing partsome distance in the lengthwise direction of the arm.

By providing a sliding mechanism, the related housing part can be pulledback somewhat from the end of the arm to which the double grab issecured. This produces some space at the front of the arm for the otherhousing part with another teat cup. Namely, in combination with thepivoting means, with which a pivoting movement of the housing part ispossible, sufficient space is produced at the front of the arm toconnect or to remove a teat cup without, at that very moment, thenon-active housing part and a teat cup that may have been placed in itcoming into contact with a teat or another part of the animal to bemilked. Consequently, the animal remains peaceful during the milkingprocess.

Because of the combined pivoting and retracting movement, both of whichare performed in the extension of the arm, the width of the arm to whichthe grab is secured, remains limited. This way, while using relativelylimited space, a number of teat cups, preferably two, can be connectedor removed. In addition, one avoids unnecessary contact with the animalto be milked with a part of the milking machine which might negativelyaffect the peace and tranquility of the animal. An additional advantageof the small embodiment of the arm with the double grab is that thelatter is particularly suitable for applying and removing teat cupsbetween the hind legs of the animal to be milked. For instance, this isbeneficial in case of a milking rotary.

The sliding mechanism can preferably be activated through the pivotingmeans. By connecting the sliding mechanism in operating form with thepivoting means, with the help of a single drive, the pivoting movementas well as the sliding movement of the related housing part can beachieved. For instance, it is part of the possibilities to produce thepivoting motion with the help of a hydraulic, pneumatic or electriccylinder and withdrawing or extending of the cylinder to achieve anadditional sliding movement of the related housing part with respect tothe arm. This way, with a limited number of components, such acombination of movements of the housing part with respect to the arm canbe achieved.

In another beneficial preferred embodiment according to this invention,the double grab is provided with contact means located between the firstand second housing parts designed for making contact with a rinsing cup.

By providing contact means which make contact with a rinsing cup, itbecomes possible for the double grab, except for connecting or removingteat cups of an animal to be milked, to use the latter also forconnecting or removing a rinsing cup. By providing contact means betweenthe first and second housing parts, one can position the rinsing cup inthe extension of the arm. Its advantage is that the width of the armcomprising the installed double grab, can be limited during use andmaximum space is obtained for positioning the rinsing cup with respectto the teats of the animal to be milked. If desired, other componentscan also be positioned in a manner similar to the rinsing cup, such asfor instances, brushes or other cleansing tools, with the double grabaccording to the invention with respect to the udder of the animal to bemilked.

It will become evident that the double grab according to the inventioncan be connected and operated with a detector or sensor for detecting ateat. For such detector or sensor, it is understood that a range ofaccessories may be used for positioning the teat cups with respect tothe teats, among which a camera system, acoustic sensors, laser systems,etc. Such a detector is known from the current state of the art and itcan operate according to various principles. Such a detector may behelpful for positioning the teat cup with respect to the animal to bemilked. Besides providing a single detector, according to the invention,several detectors may also be used, for instance one detector perhousing part. With it, a teat cup can be positioned with accuracy.

Furthermore, said invention is related to a rinsing cup suitable forinclusion in a double grab as described above.

Such rinsing cup offers similar effects and benefits as described forthe double grab. In particular, the rinsing cup includes contact membersdesigned to be held by a magnet or onto a housing part. In that case,the magnet is preferably provided in one of the housing parts. Thecontact member is preferably provided at the rinsing cup and ispreferably shaped in such a way that it can be held by the magnet in thehousing part in a manner similar to the one described previously for ateat cup. For instance, the contact member can be embodied as a kind ofa half moon with dimensions based on those of the teat cup so that itfits in a housing part. If desired, one can provide more than one, forinstance two, contact members in order to be able to keep the rinsingcup for instance in two housing parts. If desired, one may also positionmore than one rinsing cup with the double grab. However, considering thecomplexity of the rinsing process, in the currently preferred embodimentthe rinsing cup is performed in such a way that one rinsing cup with adouble grab can be positioned in order to carry out the rinsing processin an efficient way.

Said invention is also related to a milking machine provided with adouble grab as described previously.

Such a milking machine offers the same effects and benefits as describedfor the grab and/or rinsing cup. The arm, particularly carried out as arobotic arm, is preferably controlled from the milking machine. Forpositioning the teat cup with respect to the teats, the arm ispreferable movable with a number of translations in an xyz space and/orwith a number of rotations around related axes or centerlines. The milkmachine involves for instance in particular, an automatic milking robot.The double grab can also be applied to other types of milking machines.

Furthermore, the invention is also related to a method for milking ananimal, with the method comprising the following steps:

-   -   providing a milking machine as previously described;    -   connecting the first teat cup with a grab;    -   pivoting the first housing part; and    -   connecting the second teat cup with a grab.

Such a method offers similar effects and benefits as described for thedouble grab and/or rinsing cup and/or milking machine. By pivoting afirst housing part after connecting the first teat cup, additional spaceis provided for the second housing part for purposes of positioning asecond teat cup. Preferably, prior to connecting the first teat cup, thesecond housing part is somewhat pivoted in order to increase by so doingthe space for connecting the first teat cup.

In the currently preferred embodiment, after connecting the first teatcup, the first housing part, seen in the lengthwise direction of thearm, is moved backward over a distance. In so doing, additional space isprovided for the second housing part with the second teat cup. In thiscase, it has appeared especially beneficial to carry out this slidingmovement or translation movement previously, in connection or incombination with the aforementioned pivoting movement. If desired, whenremoving the teat cups, these movements can be carried out in anopposite sequence.

In another beneficial embodiment, for the rinsing process, a rinsing cupis provided in or at the double grab. In so doing, the double grabaccording to the invention, can be applied in an effective manner, notonly for connecting or removing the teat cups, but also for positioningthe rinsing cup during the rinsing process.

Other benefits, features and details of the invention are explained bymeans of the preferred modes of embodiment, whereby reference is made tothe attached drawings, in which:

FIGS. 1 and 2 show views of a double grab according to the invention;

FIGS. 3 and 4 show views of positioning the teat cups with the doublegrab from FIGS. 1 and 2; and

FIGS. 5 A and B, show a view of the arm with the double grab with arinsing cup.

Milking facility 2 with an animal to be milked 4 is provided with adouble grab 6 (FIGS. 1 and 5). Double grab 6 is installed at an arm 8which is connected with frame 10 of milking machine 2. In the embodimentshown, arm 8 is positioned between the hind legs 12 of the animal to bemilked 4 for applying the teat cups 14, as well as optionally, also forremoving the teat cups 14 from teats 16 of udder 18 of the animal to bemilked 4.

Double grab 2 (FIG. 2) is provided with a first housing part/holder 20and a second housing part/holder 22 with first magnet 24 and secondmagnet 26, respectively.

When applying a first teat cup 14 a with arm 8, double grab 2 (FIG. 2)is positioned between the hind legs 12 of the animal to be milked 4.First teat cup 14 a is connected to one of the teats 16 of the animal tobe milked 4, whereby first teat cup 14 a is held in first housing part20 of double grab 6. In the embodiment shown, second holder 22 withsecond teat cup 14 b has been brought in a downward pivoted position inorder to simplify connection of the first teat cup 14 a.

After connecting first teat cup 14 a (FIG. 1) onto a teat 16 of theanimal to be milked 4, second teat cup 14 b (FIG. 2) is connected. Forthat purpose, the second housing part 22 is pivoted upward and the firsthousing part 20 is pivoted downward in order to obtain sufficient spacefor applying second teat cup 14 b onto teat 16. For that, arm 8 ispositioned with respect to the second teat 16. In the embodiment shown,first holder 20 is provided with a first permanent magnet 24 which afterpositioning first teat cup 14 a is placed somewhat withdrawn in firsthousing part 20. Magnet 26 of second housing part 22 has in the shownembodiment just been moved forward to make contact with second teat cup14 b so that the latter can be brought in the desired position onto teat16 of the animal to be milked 4.

In the embodiment shown, detector 26 (FIGS. 3 and 4) has been installedon top of arm 8 with double grab 6 so that positioning of teat cups 14a, 14 b with respect to teats 16 of the animal to be milked 4 can besimplified. First housing part 20 can pivot around pivoting axis 28using cylinder 30. By retracting in cylinder 30, the first housing part20 is pivoted downward and in the shown embodiment, it is rotated aroundaxis 28. Second housing part 22 can be pivoted around axis 32 using asecond cylinder 34. In the shown embodiment, sliding mechanism 36 isalso provided with which first housing part 20 is movable in thelengthwise direction of arm 8, in direction A. In the shown embodiment,because of retracting cylinder 30, first housing part 20 will pivotaround pivoting axis 28 and will also slide backward in the direction ofA with the help of a guide 38 which is movable in slot 40.

In the shown embodiment, second housing part 22 is only pivotable aroundaxis 32 and is not provided with a sliding mechanism 36. Consequently,cylinder 34 for the second housing part 22 can be provided with ashorter stroke and can thus be performed shorter in comparison withcylinder 30 for first housing part 20. Furthermore, this permits thatthe cylinders seen in lengthwise direction A of arm 8 are mounted infull or in part behind each other to arm 8 so that the width indirection B of grab 6 and arm 8 can remain limited. Moving of magnets24, 26 is in the shown embodiment provided by a separate drive 42installed in housing parts 20, 22.

Grab 6 (FIGS. 5 A and B) is also suitable for picking up and positioningof rinsing cup 44 with contact means 46 and contact member 48. In theshown embodiment, rinsing cup 46 is positioned in the extension of arm 8with the help of contact means 46 provided between first and secondhousing parts 20, 22. Furthermore, in the shown embodiment, rinsing cup44 is provided with moon-shaped contact member 48 that can be positionedin one of housing parts 20, 22. Keeping the moon-shaped contact member48 in housing parts 20, 22 takes place in a manner similar to the onewith which teat cups 14 are held in housing part 20, 22.

Prior to actual milking, during the milking process, first a rinsingprocess is carried out. For that, arm 8 is used to which grab 6 issecured to pick up rinsing cup 44 and for instance, to bring it betweenthe hind legs 12 of the animal to be milked 4 towards teats 16 and tocarry out the rinsing process. After the rinsing process, grab 6 canremove rinsing cup 44 in a similar manner. After the rinsing process,actual milking of the animal to be milked 4 can be carried out. Forthat, in the shown embodiment, double grab 6 is used to pick up firstteat cup 14 a and second teat cup 14 b and to position it for instancebetween the hind legs 12 of the animal to be milked 4 with respect toteats 16 of the animal to be milked 4. For applying first teat cup 14 a,second housing part 22 is pivoted somewhat downward around pivoting axis32 with the help of retracting second cylinder 34. First teat cup 14 ais then applied on a teat 16. After correctly positioning of the firstteat cup 14 a, magnet 24 is moved backward in direction A so that firstteat cup 14 a is released by grab 6. Then, first housing part 20 ispivoted downward around pivoting axis 28 and slid backward via slidingmechanism 36 in direction A by retracting first cylinder 30. Secondhousing part 22 is pivoted upward so that second teat cup 14 b can bepositioned with respect to another teat 16 of the animal to be milked 4.After teat cup 14 is correctly positioned, magnet 26 on second housingpart 22 is slid backward in direction A so that second teat cup 14 b isreleased from second housing part 22. Arm 8 with grab 6 is then movedagain and if so desired, two other teat cups 14 are positioned. Aftercompleting the actual milking process, for removing teat cups 14, themovements can, if so desired, be carried out in the opposite sequence.

In the shown embodiment, teat cups 14 are mostly manufactured from acoated steel material and magnets 24, 26 are installed in plastichousing parts, which are movable with the help of air cylinders 42 (FIG.5B) for instance. In the shown embodiment of double grab 6, housingparts 20, 22 is slidable independently from each other around theirrespective pivoting axis 28, 32, whereby first housing part 20 isslidable in a direction A in the lengthwise direction of arm 8.

The present invention is not limited in any way to the embodimentsdescribed above. The requested rights are determined by the followingclaims within the scope of which many modifications may be considered.For example, it is part of the possibilities to provide additional teatcups or to supply them in another manner so that arm 8 does not have tobe brought back fully.

The invention claimed is:
 1. A double grabber mounted on an arm of arobotic attacher, the double grabber comprising: a first housing partoperable to hold a first teat cup; and a second housing part operable tohold a second teat cup and positioned side-by-side with the firsthousing part; wherein the first housing part is operable to pivotdownwardly in relation to the second housing part in conjunction withthe second housing part attaching the second teat cup to a dairylivestock; and wherein the second housing part is operable to pivotdownwardly in relation to the first housing part in conjunction with thefirst housing part attaching the first teat cup to the dairy livestock.2. The double grabber of claim 1, further comprising a cylinder to pivotthe first housing part.
 3. The double grabber of claim 1, wherein thefirst housing part is operable to pivot independently of the secondhousing part.
 4. The double grabber of claim 1, wherein: the firsthousing part is operable to retract longitudinally in relation to thearm of the robotic attacher in conjunction with the second housing partattaching the second teat cup to the dairy livestock; and the secondhousing part is operable to retract longitudinally in relation to thearm of the robotic attacher in conjunction with the first housing partattaching the first teat cup to the dairy livestock.
 5. The doublegrabber of claim 1, wherein: the first housing part is provided with afirst magnet designed for holding the first teat cup; and the secondhousing part is provided with a second magnet designed for holding thesecond teat cup.
 6. The double grabber of claim 5, wherein the firstmagnet is installed in a movable fashion in the first housing part. 7.The double grabber of claim 6, wherein the first magnet is movablesubstantially in the lengthwise direction of the arm.
 8. The doublegrabber of claim 7, wherein the first magnet is operable to extend tograb the first teat cup and retract to release the first teat cup. 9.The double grabber of claim 6, wherein the first magnet is a permanentmagnet.
 10. The double grabber of claim 1, wherein the first housingpart is operable to retract in the lengthwise direction of the arm. 11.The double grabber of claim 1, wherein the first housing part isoperable to extend in the lengthwise direction of the arm.
 12. Thedouble grabber of claim 1, further comprising a contact member installedbetween the first and second housing parts and designed to make contactwith a rinsing cup.
 13. The double grabber of claim 12, whereby thecontact member is designed such that the rinsing cup is substantiallypositioned in the extension of the arm.
 14. The double grabber of claim1, further comprising a cleansing tool.
 15. The double grabber of claim1, wherein the first housing part further comprises a moon-shapedcontact member.